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TI mmWave ROS Driver Release Notes
===================================

Overview
========

The TI mmWave ROS driver integrates the mmWave out-of-box demo with Robot OS (ROS) in Linux. It sets up a ROS service as an interface to configure the mmWave Evaluation Module and publishes a ROS PointCloud2 message with the objects detected when the sensor is activated.

Features
========

- Compatible with TI mmWave SDK v3.5 out-of-box demo when using IWR6843AOPEVM
- Compatible with TI mmWave SDK v3.5 out-of-box demo when using IWR6843 ES2.0 EVM
- Offers the out-of-box demo Command Line Interface (CLI) as a ROS Service
- Reads Radar data from the mmWave EVM and publishes it as a ROS PointCloud2 Message
- Outputs the {X,Y,Z} coordinate and intensity (snr) of each detected point in the ROS PointCloud2 Message
- {X,Y,Z} coordinates use the ROS standard coordinate system where X=forward, Y=left, Z=up (see http://www.ros.org/reps/rep-0103.html for more details)

Limitations
========================

The following is a list of known limitations for this release that were known at the time of release.
- Currently tested for the IWR6843 EVM and IWR6843AOPEVM only
- The mmWave EVM must be configured to only send the "detected objects¨ data. The other possible output data types such as "log magnitude range¨, "noise profile¨, heat maps, etc. are not currently supported by the ROS driver. Also, the Doppler/velocity field is not currently output in the ROS PointCloud2 Message.

Changes in Version 2.1
========================
The following is a list of changes compared to the previous release.
- Added command 'calibData 0 0 0' to all cfg files to support TI mmWave SDK 3.5
- Changed instructions to download source from git.ti.com 

Changes in Version 2.0
========================
The following is a list of changes compared to the previous release.
- Added support for multiple devices runing and displaying pointcloud on same RVIZ visualizer
- Launch file for mulitple devices included 
- Source code was updated, update sourced from https://github.com/radar-lab/ti_mmwave_rospkg

Changes in Version 1.8
========================

The following is a list of changes compared to the previous release.
- Note on editing the cfg file added to FAQ section 

Changes in Version 1.7
========================

The following is a list of changes compared to the previous release.
- Driver source code modified to work with out-of-box demo from TI mmWave SDK 3.2.0.6 (IWR6843AOPEVM only) and TI mmWave SDK 3.3.0.1 (IWR6843 ES2 only and IWR1843)
- Chirp profile config (.cfg) file added for IWR1843 was added
- Launch file added for IWR1843

Changes in Version 1.6
========================

The following is a list of changes compared to the previous release.
- Driver source code modified to work with out-of-box demo from TI mmWave SDK 3.2.0.6 (IWR6843AOPEVM only) and TI mmWave SDK 3.2.0.4 (IWR6843 ES1.0 EVM only)
- Chirp profile config (.cfg) file added for IWR6843AOPEVM
- Launch file added for IWR6843AOPEVM

Changes in Version 1.5
========================

The following is a list of changes compared to the previous release.
- Driver source code modified to work with out-of-box demo from TI mmWave SDK 2.1.0.4 (xWR1443 ES3.0 EVM or xWR1642 ES2.0 EVM only), TI mmWave SDK 3.0.0.8 (IWR6843 ES1.0 EVM only)
- Chirp profile config (.cfg) file added for IWR6843 EVM

Changes in Version 1.4
========================

The following is a list of changes compared to the previous release.
- xWR1642 chirp profile config (.cfg) files modified to work with out-of-box demo from TI mmWave SDK 2.0.0.4 (requires xWR1642 ES2.0 EVM)

Changes in Version 1.3
========================

The following is a list of changes compared to the previous release.
- Chirp profile config (.cfg) files modified to work with out-of-box demo from TI mmWave SDK 1.2.0.5

Changes in Version 1.2.1
========================

The following is a list of changes compared to the previous release.
- Fixed syntax error in mmWave_nodelets.xml file in driver package which caused driver to fail with newer releases of ROS Kinetic distribution

Changes in Version 1.2
========================

The following is a list of changes compared to the previous release.
- Chirp profile config (.cfg) files modified to work with out-of-box demo from TI mmWave SDK 1.1.0.2
- Driver source code modified to be compatible with output data format used in out-of-box demo from TI mmWave SDK 1.1.0.2


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